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<h1>MotionController Struct Reference</h1><!-- doxytag: class="MotionController" --><code>#include &lt;motion.h&gt;</code>
<p>
<table border="0" cellpadding="0" cellspacing="0">
<tr><td></td></tr>
<tr><td colspan="2"><br><h2>Data Fields</h2></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="23c9719b13bfd915e6b4cd5b6ce1da3b"></a><!-- doxytag: member="MotionController::position" ref="23c9719b13bfd915e6b4cd5b6ce1da3b" args="" -->
int32_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_motion_controller.html#23c9719b13bfd915e6b4cd5b6ce1da3b">position</a></td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">current encoder position <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="6b595a263e3bbd5e718efd0ffc906a51"></a><!-- doxytag: member="MotionController::encoder" ref="6b595a263e3bbd5e718efd0ffc906a51" args="" -->
uint8_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_motion_controller.html#6b595a263e3bbd5e718efd0ffc906a51">encoder</a></td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">encoder port to read from <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="1ce7c290336d27a744c3feb11f00f883"></a><!-- doxytag: member="MotionController::encoder_old_pos" ref="1ce7c290336d27a744c3feb11f00f883" args="" -->
uint16_t&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_motion_controller.html#1ce7c290336d27a744c3feb11f00f883">encoder_old_pos</a></td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">old encoder position <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="d08f2e2dc0786c32ed5bb619948ee512"></a><!-- doxytag: member="MotionController::output" ref="d08f2e2dc0786c32ed5bb619948ee512" args="" -->
<a class="el" href="motor__group_8h.html#bf80c97904f3c321e634674c7a1d8002">MotorGroup</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_motion_controller.html#d08f2e2dc0786c32ed5bb619948ee512">output</a></td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">MotorGroup to drive. <br></td></tr>
<tr><td class="memItemLeft" nowrap align="right" valign="top"><a class="anchor" name="de6f4eb5b1ffb7424a569159499a2b42"></a><!-- doxytag: member="MotionController::pid" ref="de6f4eb5b1ffb7424a569159499a2b42" args="" -->
<a class="el" href="structpid__controller.html">pid_controller</a>&nbsp;</td><td class="memItemRight" valign="bottom"><a class="el" href="struct_motion_controller.html#de6f4eb5b1ffb7424a569159499a2b42">pid</a></td></tr>

<tr><td class="mdescLeft">&nbsp;</td><td class="mdescRight">PID controller. <br></td></tr>
</table>
<hr><a name="_details"></a><h2>Detailed Description</h2>
<a class="el" href="struct_motion_controller.html">MotionController</a> structure 
<p>
<hr>The documentation for this struct was generated from the following file:<ul>
<li>lib/<a class="el" href="motion_8h.html">motion.h</a></ul>
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